Docker cleanup (autowarefoundation#1946)

* Docker: Add truly generic docker support

Unify docker support with a new (and more generic) set of docker files.

Two main images are created:
- Base image containing an Ubuntu installation with all dependencies
- Build image containing a pre-built Autoware

When Cuda support is enabled, there is a further Base+Cuda support image.
These Dockerfiles can be used for both AArch64 and x86_64 images.

Co-authored-by: Filipe Rinaldi <filipe.rinaldi@arm.com>

* ros/.gitignore: Ignore log and coverage folders

* Autoware built using colcon instead of catkin

* Install ROS dependencies via file

* Docker: Recommend NVIDIA Docker version 2

Make it explicit in the documentation that we recommend NVIDIA Docker
v2.

.dockerignore

@@ -0,0 +1,6 @@
+.git*
+ros/build*
+ros/devel*
+ros/install*
+ros/log*
+ros/coverage_*

docker/generic/Dockerfile

@@ -0,0 +1,16 @@
+ARG FROM_ARG
+ARG ROS_DISTRO
+FROM ${FROM_ARG}
+
+ENV USERNAME autoware
+
+# Build Autoware
+COPY --chown=autoware ./ /home/$USERNAME/Autoware
+RUN su -c "bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+                  cd /home/$USERNAME/Autoware/ros; \
+                  ./colcon_release'" $USERNAME
+RUN echo "source /home/$USERNAME/Autoware/ros/install/local_setup.bash" >> \
+    /home/$USERNAME/.bashrc
+
+COPY ./docker/generic/entrypoint.sh /tmp
+ENTRYPOINT ["/tmp/entrypoint.sh"]

docker/generic/Dockerfile.base

@@ -0,0 +1,95 @@
+#
+# Install ROS packages used by Autoware.
+#
+ARG ROS_DISTRO
+FROM ros:$ROS_DISTRO
+
+#
+# Install tools and libraries required by Autoware
+#
+RUN apt-get update && apt-get install -y \
+        cmake-curses-gui \
+        cmake-qt-gui \
+        dbus-x11 \
+        dmz-cursor-theme \
+        fonts-dejavu \
+        gconf2 \
+        gnome-terminal \
+        gstreamer0.10-plugins-good \
+        language-pack-en \
+        libarmadillo-dev \
+        libcanberra-gtk-module \
+        libcanberra-gtk3-0 \
+        libcanberra-gtk3-module \
+        libdbus-glib-1-2 \
+        libgflags-dev \
+        libglew-dev \
+        libgoogle-glog-dev \
+        libgoogle-perftools-dev \
+        libgsl0-dev \
+        libmosquitto-dev \
+        libopencv-dev \
+        libopenni2-dev \
+        libpcap-dev \
+        libssh2-1-dev \
+        locales \
+        pulseaudio \
+        python-flask \
+        python-requests \
+        python3-colcon-common-extensions \
+        python3-pip \
+        python3-setuptools \
+        sudo \
+        tmux \
+        v4l-utils \
+        vim \
+        wget && \
+        pip3 install -U setuptools && \
+        rm -rf /var/lib/apt/lists/*
+
+#
+# Configure environmet
+#
+
+RUN update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX
+
+# Add user
+ENV USERNAME autoware
+ARG USER_ID=1000
+ARG GROUP_ID=15214
+ENV PULSE_SERVER /run/pulse/native
+
+RUN groupadd --gid $GROUP_ID $USERNAME && \
+        useradd --gid $GROUP_ID -m $USERNAME && \
+        echo "$USERNAME:$USERNAME" | chpasswd && \
+        usermod --shell /bin/bash $USERNAME && \
+        usermod -aG sudo $USERNAME && \
+        usermod  --uid $USER_ID $USERNAME && \
+        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
+        chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Startup scripts
+ENV LANG="en_US.UTF-8"
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /etc/profile.d/ros.sh && \
+        # Fix for QT and X server errors
+        echo "export QT_X11_NO_MITSHM=1" >> /etc/profile.d/autoware.sh && \
+        # Set defaut language
+        echo "export LANG=\"en_US.UTF-8\"" >> /etc/profile.d/autoware.sh
+
+#
+# Install ROS packages used by Autoware
+#
+COPY ./docker/generic/dependencies /tmp/dependencies
+RUN apt-get update && \
+    sed "s/\$ROS_DISTRO/$ROS_DISTRO/g" "/tmp/dependencies" | xargs apt-get install -y && \
+    rm -rf /var/lib/apt/lists/* 
+
+RUN su -c "rosdep update" autoware
+
+# Configure terminal colors
+RUN su -c "gconftool-2 --set \"/apps/gnome-terminal/profiles/Default/use_theme_background\" --type bool false" autoware && \
+    su -c "gconftool-2 --set \"/apps/gnome-terminal/profiles/Default/use_theme_colors\" --type bool false" autoware && \
+    su -c "gconftool-2 --set \"/apps/gnome-terminal/profiles/Default/background_color\" --type string \"#000000\"" autoware
+
+COPY ./docker/generic/entrypoint.sh /tmp
+ENTRYPOINT ["/tmp/entrypoint.sh"]

docker/generic/Dockerfile.cuda

@@ -0,0 +1,88 @@
+ARG FROM_ARG
+FROM ${FROM_ARG}
+USER root
+
+
+# From nvidia cuda 9.0 base: https://gitlab.com/nvidia/cuda/tree/ubuntu16.04/9.0/base/Dockerfile
+
+RUN apt-get update && apt-get install -y --no-install-recommends ca-certificates apt-transport-https gnupg-curl && \
+    rm -rf /var/lib/apt/lists/* && \
+    NVIDIA_GPGKEY_SUM=d1be581509378368edeec8c1eb2958702feedf3bc3d17011adbf24efacce4ab5 && \
+    NVIDIA_GPGKEY_FPR=ae09fe4bbd223a84b2ccfce3f60f4b3d7fa2af80 && \
+    apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/7fa2af80.pub && \
+    apt-key adv --export --no-emit-version -a $NVIDIA_GPGKEY_FPR | tail -n +5 > cudasign.pub && \
+    echo "$NVIDIA_GPGKEY_SUM  cudasign.pub" | sha256sum -c --strict - && rm cudasign.pub && \
+    echo "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64 /" > /etc/apt/sources.list.d/cuda.list && \
+    echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1604/x86_64 /" > /etc/apt/sources.list.d/nvidia-ml.list
+
+ENV CUDA_VERSION 9.0.176
+
+ENV CUDA_PKG_VERSION 9-0=$CUDA_VERSION-1
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-cudart-$CUDA_PKG_VERSION && \
+    ln -s cuda-9.0 /usr/local/cuda && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf && \
+    echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
+
+ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES compute,utility
+ENV NVIDIA_REQUIRE_CUDA "cuda>=9.0"
+
+
+# From nvidia cuda 9.0 runtime: https://gitlab.com/nvidia/cuda/blob/ubuntu16.04/9.0/runtime/Dockerfile
+
+ENV NCCL_VERSION 2.3.7
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-libraries-$CUDA_PKG_VERSION \
+        cuda-cublas-9-0=9.0.176.4-1 \
+        libnccl2=$NCCL_VERSION-1+cuda9.0 && \
+        apt-mark hold libnccl2 && \
+        rm -rf /var/lib/apt/lists/*
+
+# From nvidia cuda 9.0 devel: https://gitlab.com/nvidia/cuda/blob/ubuntu16.04/9.0/devel/Dockerfile
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        cuda-libraries-dev-$CUDA_PKG_VERSION \
+        cuda-nvml-dev-$CUDA_PKG_VERSION \
+        cuda-minimal-build-$CUDA_PKG_VERSION \
+        cuda-command-line-tools-$CUDA_PKG_VERSION \
+        cuda-core-9-0=9.0.176.3-1 \
+        cuda-cublas-dev-9-0=9.0.176.4-1 \
+        libnccl-dev=$NCCL_VERSION-1+cuda9.0 && \
+    rm -rf /var/lib/apt/lists/*
+
+ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs
+
+# Support for Nvidia docker v2
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        pkg-config \
+        libxau-dev \
+        libxdmcp-dev \
+        libxcb1-dev \
+        libxext-dev \
+        libx11-dev && \
+    rm -rf /var/lib/apt/lists/*
+COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
+  /usr/local/lib/x86_64-linux-gnu \
+  /usr/lib/x86_64-linux-gnu
+COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
+  /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json \
+  /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json
+RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
+    ldconfig
+RUN apt-get update
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+ENTRYPOINT ["/tmp/entrypoint.sh"]